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Improvements to software GNSS and reduced MEMS IMU measurement processing for urban navigation
University of Colorado, Boulder.
Luleå tekniska universitet.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
2009 (English)Conference paper, Presentation (Refereed)
Abstract [en]

This paper extends work previously performed in the area of integrating reduced-cluster MEMS IMU and GNSS measurements in urban navigation conditions. These reduced-cluster IMU configurations are implemented since the typical dynamic conditions of land vehicles are well known. Specifically, this work utilizes a single-axis gyro for heading, a tri-axis accelerometer for velocity updates, and a commercially available software GPS receiver. The reduced inertial cluster is mounted in-line with the vehicle forward-right-down axes. Previous work by the authors has addressed the estimation of IMU mounting angles relative to the vehicle frame [1]. The vehicle frame is assumed parallel to the road surface. Therefore, any vehicle pitch and roll angles are due to local terrain variations.is work utilizes a single-axis gyro for heading, a tri-axis accelerometer for velocity updates, and a commercially available software GPS receiver. The reduced inertial cluster is mounted in-line with the vehicle forward-right-down axes. Previous work by the authors has addressed the estimation of IMU mounting angles relative to the vehicle frame [1]. The vehicle frame is assumed parallel to the road surface. Therefore, any vehicle pitch and roll angles are due to local terrain variations....

Place, publisher, year, edition, pages
2009.
Keyword [en]
GNSS, Technology - Electrical engineering, electronics and photonics
Keyword [sv]
Teknikvetenskap - Elektroteknik, elektronik och fotonik
Research subject
Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-35019Local ID: 96179710-e418-11de-bae5-000ea68e967bOAI: oai:DiVA.org:ltu-35019DiVA: diva2:1008271
Conference
International technical meeting of the Satellite Division of the Institute of Navigation : 22/09/2009 - 25/09/2009
Note
Godkänd; 2009; 20091208 (ysko)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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http://www.ion.org/meetings/abstract.cfm?meetingID=25&pid=575&t=B&s=5

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